WO2016078981A1 - Détection de forces et de couples dans un dispositif d'entraînement - Google Patents

Détection de forces et de couples dans un dispositif d'entraînement Download PDF

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Publication number
WO2016078981A1
WO2016078981A1 PCT/EP2015/076301 EP2015076301W WO2016078981A1 WO 2016078981 A1 WO2016078981 A1 WO 2016078981A1 EP 2015076301 W EP2015076301 W EP 2015076301W WO 2016078981 A1 WO2016078981 A1 WO 2016078981A1
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WO
WIPO (PCT)
Prior art keywords
sensors
segments
measuring device
segment
pattern
Prior art date
Application number
PCT/EP2015/076301
Other languages
German (de)
English (en)
Inventor
Marcus Gutzmer
Uwe Krause
Markus Reinhard
Dirk Scheibner
Jürgen SCHIMMER
Jürgen ZETTNER
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Priority to EP15794886.0A priority Critical patent/EP3207347A1/fr
Publication of WO2016078981A1 publication Critical patent/WO2016078981A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
    • G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
    • G01L3/1421—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using optical transducers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/04—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft
    • G01L3/10—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating
    • G01L3/109—Rotary-transmission dynamometers wherein the torque-transmitting element comprises a torsionally-flexible shaft involving electric or magnetic means for indicating involving measuring phase difference of two signals or pulse trains
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
    • G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
    • G01L3/1428—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers
    • G01L3/1435—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers involving magnetic or electromagnetic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G01L3/02—Rotary-transmission dynamometers
    • G01L3/14—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft
    • G01L3/1407—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs
    • G01L3/1428—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers
    • G01L3/1442—Rotary-transmission dynamometers wherein the torque-transmitting element is other than a torsionally-flexible shaft involving springs using electrical transducers involving electrostatic means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/0061—Force sensors associated with industrial machines or actuators

Definitions

  • the invention relates to a measuring device for detecting forces and torques on a drive device. Furthermore, the invention relates to a drive device with such a measuring device. Under forces and torques on a drive device are understood here forces and torques acting on the drive device or exerted by the drive device.
  • Such forces and torques are important parameters of drive devices. This applies in particular to drive devices of belt drives, for example sliding doors.
  • the detection of forces and torques on such drive devices can be used for the installation of a belt, the condition monitoring and the detection of safety-critical conditions.
  • the torque can be determined by measuring and evaluating a torsion of the motor shaft. This z. For example, by means of two rotary encoders, a difference of torsion angles at spaced-apart locations along the motor shaft is measured.
  • this method is expensive and requires a relatively large amount of space, which is not always available.
  • Forces and torques on a motor can also be measured as bearing reactions on the stator of the motor or on a motor suspension.
  • the principle of the pendulum machine is known.
  • the stator of the motor is rotatably mounted and a torque generated by it ment is measured by means of a load cell.
  • fixed measuring flanges are known for torque measurement, which are mounted between a motor and a motor mount. These measuring flanges are based on the evaluation of strain gauges on a defined deformed body. Such a measuring flange must be several centimeters long, so that a sufficiently large deformation occurs.
  • Such measurement ⁇ devices are of limited use in drive devices such as drive devices of belt drives, particularly small drives of doors, integrated due to their size and cost.
  • the known methods usually measure only torques, but no radial forces.
  • the radial force is of particular interest in belt drives as a measure of belt tension.
  • the invention has for its object to provide an improved measuring device for detecting forces and torques on a drive device, in particular on a drive device of a belt drive.
  • Th A measuring device for detecting Kräf- and torques to a drive apparatus comprising a rotatable around a rotation axis power transmission element which is driven by the drive device and having at least two segments which are connected by at least one elas ⁇ table deformable connecting member elastically with each other. Furthermore, the measuring device comprises a sensor device for detecting changes in position of the segments relative to one another and an evaluation unit for determining of forces and torques on the drive device based on measured data acquired by means of the sensor device.
  • the invention makes use of the fact that forces and torques on a drive device always also cause deformations of a power transmission element driven by the drive device when it is loaded. These deformations are sorted ⁇ but usually extremely small, and therefore detectable only with non ⁇ tively high cost.
  • the invention therefore provides a force transmission element, which consists of several Seg ⁇ elements, which are elastically connected to each other.
  • the elastic connection of the segments advantageously leads to a significantly greater deformation of the force transmission element, which can be detected in a simple and cost-effective manner and evaluated to determine the forces and torques on a drive device.
  • An embodiment of the invention provides that at least one connecting element is formed as an elastically deformable intermediate layer between two segments, which is connected to two segments.
  • an intermediate layer made of a polyurethane is suitable.
  • At least one connecting element is formed as a metallic spring structure, which is connected to two segments.
  • a further embodiment provides that the segments of annular ⁇ like and in an unloaded state of the Kraf ⁇ tübertragungselements about the rotational axis are concentric angeord ⁇ net.
  • This embodiment of the invention is structurally particularly simple and effective, since forces and torques on a drive device can be detected and differentiated from one another by the change in position of only two ring-like segments, as will be explained below with reference to exemplary embodiments.
  • transverse ⁇ sectional surfaces of the segments are each formed in a substantially circular ring-shaped and an outer diameter of the
  • Cross-sectional area of a first segment is smaller than an inner diameter of the cross-sectional area of a second ⁇ Seg ment, so that the second segment extends around the first segment around and is radially spaced from the first segment with respect to the axis of rotation.
  • a vertical axis of rotation outside surface of the force transmission element is preferably a surface ⁇ pattern which consists of a first portion pattern on an outer surface of a first segment and a second sub-pattern on an outer surface of a second segment, and is designed such that a change in position of the segments relative to each other from a resulting change in position of the partial patterns relative to each other can be determined.
  • This embodiment of the invention advantageously allows a simple detection of the changes in position of the segments relative to each other by detecting the changes in position of the partial patterns relative to each other.
  • the sensor device preferably comprises first Senso ⁇ reindeer, each associated with a first detection area in the region of the first partial pattern, and second sensors which are each assigned to a second detection area in the region of the second partial pattern, and each sensor is to be ⁇ forms, in the detection area to which it is assigned to detect the surface pattern contactless.
  • This embodiment of the invention makes it possible to detect the changes in position of sub-patterns relative to one another by measuring time differences with which defined elements of different sub-patterns each pass through a detection area to which a sensor of the sensor device is assigned. This is advantageous because these time differences can be detected easily and with good measurement accuracy.
  • the contactless ⁇ -contact detection of the surface pattern allows further before ⁇ part by way of a friction-free and low-wear detection of the position changes.
  • the surface pattern is an optically detectable pattern and the sensors are optical sensors for detecting the surface pattern in the detection areas,
  • the surface pattern is a surface profile and the sensors a distance sensors are for detecting each of a distance in a detection area ⁇ the surface of an associated one of the sensing region distance sensor,
  • the surface pattern is a capacitive structure and the sensors are capacitive sensors for detecting capacitances of capacitors, each of which is located in a detection area and a surface
  • Measuring electrode of the detection area associated kapa ⁇ citive sensor are formed are, or that the surface pattern is an electrically conductive structure and the sensors are inductive sensors for detecting electrically conductive structures in the detection areas.
  • An embodiment of the invention advantageously allows the use of commercially available sensors and thus a cost-effective implementation of the sensor device.
  • An embodiment of the invention which is alternative to the abovementioned embodiment with ring-like segments provides that the force transmission element has a plurality of segments which are each designed as a cylinder sector which has a substantially circular-sector-shaped cross section in planes perpendicular to the axis of rotation. In each case two adjacent segments by means of an elastically verformba ⁇ ren connection member are elastically connected to each other.
  • This alternative embodiment of the invention advantageously allows relatively large deformations of the power transmission ⁇ elements by the structure of elastically interconnected segments.
  • the sensor device preferably has sensors that are configured to detect distances between adjacent segment Seg ⁇ elements.
  • a further embodiment of the aforementioned embodiment provides sensors spaced from the force transmission element for non-contact detection of segment distances of adjacent segments.
  • the non-contact detection of the segment distances advantageously allows a frictionless and low-wear detection of the segment distances.
  • This embodiment of the invention can also be advantageously realized with commercially available optical, inductive or capacitive sensors or magnetic field sensors by providing the segments with corresponding structures that can be detected by the respective sensors.
  • sensors for non-contact detection of segment distances of adjacent segments can also be arranged directly on the force transmission element.
  • each segment has an electrode on which an electrode with a capacitor of an adjacent segment bil ⁇ det whose capacitance depends on the distance between the two segment Seg ⁇ elements and is detected by a sensor as a capacitive sensor formed.
  • a drive device comprises a measuring device according to the invention with the advantages mentioned above.
  • FIG. 1 shows a side view of a drive device with a measuring device for detecting forces
  • FIG. 11 shows the measuring device shown in FIG. 9 with a laterally acting force
  • FIG 12 segment distances between adjacent segments of the Kraftü ⁇ bertragungselements the measuring device shown in FIG 9 with a laterally acting
  • FIG. 1 shows a side view of a drive device 1 with a measuring device 3 for detecting forces and torques on the drive device 1.
  • the drive device 1 comprises a motor 5 with a motor shaft 7, which is rotatable about an axis of rotation 9, and a
  • the motor flange 11 via which the drive device 1 is attached to a support object 13, for example on a wall.
  • the rotation axis 9 of the motor shaft 7 defines an axial direction.
  • a damping element 15 and a Abstandsplat ⁇ te 17 are arranged between the motor flange 11 and the Halterungsob- jekt 13, a damping element 15 and a Abstandsplat ⁇ te 17 are arranged.
  • the damping element 15 is by means of several ⁇ rer first fastening elements 19, which for example are designed as screw elements, be ⁇ consolidates to the motor flange.
  • the damping element 15 and the distance-plate 17 by means of a plurality of second fastening elements 21, which are also formed, for example as screw elements of ⁇ fixed to the support object. 13
  • the measuring device 3 comprises a force transmission element 23 rotatable about the rotation axis 9, which is arranged on the motor shaft 7 and can be driven by the drive device 1 by means of this. Furthermore, the measuring device 3 comprises a sensor device 25 with sensors 25.1, 25.2 and an ejector. teech 27 for determining forces and torques on the drive device 1. Embodiments of measuring devices 3 are described below with reference to other figures.
  • the force transmission element 23 is formed as a belt pulley of the belt transmission over which a belt 29 of the belt drive is guided.
  • the force transmission member 23 comprises two ring-like manner out ⁇ formed and concentrically arranged in an unloaded state of the operating power ⁇ restriction member 23 about the axis of rotation 9 segments 30, 31.
  • the power transmission member 23 comprises an elastically deformable connecting element 40, the segments 30, 31 movable and elastically connects with each other.
  • To the rotation axis 9 vertical cross-sectional areas of the Seg ⁇ elements 30, 31 are each formed in a substantially circular shape, wherein an outer diameter of the
  • Cross-sectional area of a first segment 30 is smaller than an inner diameter of the cross-sectional area of the second Seg ⁇ ments 31 so that the second segment 31 extends around the first Seg ⁇ element 30 around and is spaced from the first segment 30 bezüg ⁇ Lich the axis of rotation 9 radially.
  • the first ⁇ Seg ment 30 is fixed to the motor shaft. 7
  • the connecting element 40 is disposed between a second ⁇ Seg ment 31 facing outer surface of the first segment 30 and a first segment 30 associated inner surface of the second segment 31 and th segmentation with the two 30, 31 are connected.
  • the connecting element 40 is designed as an elastically deformable annular intermediate layer between the segments. th 30, 31 formed, the z. B. made of a polyurethane ge ⁇ manufactures.
  • the connecting element may be formed as play 40 at ⁇ as a metal spring structure.
  • the end face 28 of the force transmission element 23 has a surface pattern 42, which consists of a first part pattern 43 on a front-side outer surface of the first segment 30 and a second part pattern 44 on a front-side outer surface of the second segment 31.
  • the Oberflä ⁇ chenmuster 42 is configured such that a change in position of the segments 30, 31 relative to each other from a resulting re sulting ⁇ change in position of the partial patterns 43, 44 relative to each other can be determined.
  • the sensor device 25 is designed for contactless detection of a position of the partial pattern 43, 44 relative to one another and spaced from the force-transmitting element 23 is arranged ⁇ .
  • the sensor device 25 comprises first sensors 25.1, which are each 51 associated with a first detection area in the region of the first partial pattern 43, and second Senso ⁇ ren 25.2, respectively a second detection area 52 associated with the area of the second partial pattern 44th
  • Each sensor 25.1, 25.2 is designed to detect the surface pattern 42 in the detection area 51, 52 to which it is assigned.
  • the surface pattern 42 is an optically detectable pattern.
  • the surface pattern 42 z.
  • a graphic pattern and the sensor device 25 includes cameras designed as sensors 25.1, 25.2 for taking pictures of the detection areas 51, 52.
  • the surface pattern 42 is z.
  • a light-reflecting pattern and the sensor device 25 includes light sources for illuminating the detection areas 51, 52 and optical sensors 25.1, 25.2 for detecting reflected light.
  • the surface pattern 42 is a surface profile (height profile) and the sensor device 25 comprises as Ab ⁇ level sensors designed sensors 25.1, 25.2 for detecting each of a distance a is assigned in a detection area 51, 52 that are available surface of one of the detection area 51, 52 distance sensor.
  • the surface pattern 42 is a magnetic structure and the sensor device 25 includes sensors 25.1, 25.2 designed as magnetic field sensors for detecting magnetic fields in the detection regions 51, 52.
  • the surface pattern 42 is an electrically conductive structure and the sensor device 25 comprises sensors designed as inductive sensors 25.1, 25.2 for He holders ⁇ electrically conductive structures in the detection areas 51, 52nd
  • the surface pattern 42 is capacitive
  • Structure and the sensor device 25 comprises sensors 25.1, 25.2 designed as capacitive sensors for detecting capacitances of capacitors, each of which is located in a detection area 51, 52 surface and ei ⁇ ner measuring electrode of the detection area 51, 52 zugeord- Neten capacitive sensor be formed.
  • the surface pattern 42 is a stripe pattern consisting of a plurality of pairs of strips 45 of strips 46, 47, of which a first strip 46 runs on the front-side outer surface of the first segment 30 and the second strip 47 on the front-side outer surface of the second segment 31 extends.
  • both strips run 46, 47 of each pair of strips 45 in the unloaded state of the power transmission member 23 along a ⁇ extending from the axis of rotation 9 of the half-line.
  • the first strips 46 form the first part ⁇ pattern 43 and the second strips 47 form the second part pattern 44 of the surface pattern 42.
  • the Surface pattern be formed 42 also for example, by extending around the rotation axis 9 of circular ring traces 61, 62, see Figures 7 and 8.
  • the illustrated embodiment four first detecting areas 51 and four second detection regions 52 per ⁇ wells distributed symmetrically about the rotation axis 9 wherein each of a first detection area 51 and a second Erfas ⁇ sungs capable are 52 on one extending from the axis of rotation 9 half-line.
  • FIG. 3 shows the measuring device 3 shown in FIG. 2 with an acting axial torque, which is brought about by a pull of the belt 29 indicated by the arrows.
  • FIG 4 shows this offset angle ⁇ of the strips 46, 47 of four pairs of strips 45, which follow along the circumference of Kraftü ⁇ bertragungselements 23 at intervals of 90 degrees to each other and numbered with an index i along this circumference are riert.
  • FIG. 5 shows the measuring device 3 shown in FIG. 2 in the case of a laterally acting force, which differs from that of FIG Arrows indicated train of the belt 29 is effected.
  • the segments 30 are mutually shifted 31 relative ⁇ far laterally until the force is compensated by the elastic deformation of the connecting element 40th
  • This displacement causes a corresponding displacement ⁇ of the two strips 46, 47 of each pair of strips 45.
  • Ver ⁇ shift ⁇ causes an offset angle ⁇ of the two Stripes ⁇ fen 46, 47 relative to each other from the direction of the
  • Strip 46, 47 relative to the direction of the displacement ⁇ depends.
  • the offset angle ⁇ is defined, for example, by the angle between the first strip 46 and a straight line through the axis of rotation 9 and the outer (circumferential) end of the second strip 47 of the respective strip pair 45 de ⁇ .
  • FIGS. 4 and 6 show that the detection of measurement signals for a plurality of pairs of strips 45 makes it possible to distinguish between rotations and displacements of the segments 30, 31 relative to one another and thus torques and forces perpendicular to the axis of rotation 9 on the drive device.
  • FIGS. 7 and 8 show a force transmission element 23 of a measuring device 3, which differs from the force transmission element 23 of the exemplary embodiment shown in FIG. 2 by the surface pattern 42 and is otherwise configured analogously to the force transmission element 23 shown in FIG.
  • FIG. 7 schematically shows a front view of the force transmission element 23, and
  • FIG. 8 shows a perspective view of a section of the force transmission element 23.
  • the surface pattern 42 has instead of radial strips 46, 47 extending around the two axis of rotation 9 periodic Kreisringspu ⁇ ren 61, 62, which form a surface profile.
  • ver ⁇ through a first annular track 61 on the front-side outer surface of the first segment 30 and the second circuit ⁇ ring track 62 runs on the front-side outer surface of the second segment 31.
  • the first annular track 61 forms the first part of pattern 43
  • second annular track 62 forms the second part patterns 44 of the surface pattern 42.
  • both circular ring tracks 61, 62 have the same angular period, but are preferably out of phase with each other by a quarter of this angular period.
  • the surface profile of the annular tracks 61, 62 may vary, for example, at least approximately sinusoidal in Ab ⁇ dependence of the sector angle.
  • the sensor device 25 for a force transmission element 23 shown in FIGS. 7 and 8 preferably comprises sensors 25.1, 25.2 designed as distance sensors, wherein at least one first sensor 25.1 is assigned to a first detection area 51 in the area of the first circular track 61 and at least one second sensor 25.2 a second detection area 52 in the region of the second circular track 62 is assigned.
  • the detection areas 51, 52 extend at ⁇ play, in each case over the area as a Winkelperio- de a.
  • Figure 9 shows another embodiment of a Messvor ⁇ direction 3 for detecting forces and torques on a drive device 1 in a front view analogous to the representation of the embodiment shown in Figure 2.
  • the power transmission element 23 is designed as a belt. formed of a belt drive over which a Rie ⁇ men 29 of the belt drive is performed.
  • the power transmission element 23 has a plurality of similar segments 32, which are each manufactured ⁇ det as a cylinder sector, which has a substantially circular sector-shaped cross-section in planes perpendicular to the axis of rotation 9.
  • Adjacent segments 32 are each movably and elastically connected to each other by means of an elastically deformable connecting element 40.
  • the connecting elements 40 are ⁇ forms, each as an elastically deformable intermediate layer between two segments 32, the z. B. is made of a polyurethane.
  • Alter ⁇ natively connecting elements 40 may be formed, for example, each as a metallic spring structure.
  • Neighboring segments 32 have from each other a Segmentab ⁇ stand d, which is the same in the unloaded state of Kraftübertra ⁇ tion element 23 for all pairs of adjacent segments 32. Torques and forces on the drive device change the segment distances d of adjacent segments 32 until the elastic deformation of the connecting elements 40 compensates for the torques and forces.
  • the segment distances d of adjacent segments 32 are detected by means of sensors 25.1 to 25.3 of the sensor device 25 and evaluated by the evaluation unit 27 for determining the torques and forces.
  • the sensor apparatus 25 25.2 includes, for example Senso ⁇ ren 25.1, spatially spaced apart from the operating power ⁇ restriction member 23 is arranged similarly to Figure 1 and the description of Figure 2 each having a detection area 51, 52 assigned in the area of the segments 32 and as optical, inductive - ve or capacitive sensors or are designed as magnetic field sensors.
  • the sensors 25.1, 25.2 inductive ⁇ ve sensors are, respectively, the segments 32 Example ⁇ as at least one electrically conductive area, which can be detected in a detection area 51, 52 by an inductive sensor.
  • the segments 32 each have at least one capacitive region, which in a detection region 51, 52 with a measuring electrode of a capacitive sensor can each form a capacitor whose capacitance can be detected by the capacitive sensor.
  • the sensors 25.1, 25.2 are magnetic field sensors
  • the segments 32 each have at least one magnetic region whose magnetic field in a detection region 51, 52 can be detected by a magnetic field sensor.
  • the sensor device 25 of the exemplary embodiment of a measuring device 3 in FIG. 9 comprises sensors 25. 3, which are arranged on the force transmission element 23.
  • each pair of adjacent segments 32 is such a sensor
  • the segments 32 each have an electrode that forms a capacitor with an electrode of an adjacent segment 32, whose capacitance depends on the segment distance d of the two segments 32 and is detected by a sensor 25.3 designed as a capacitive sensor.
  • a sensor 25.3 designed as a capacitive sensor. This includes the possibility that the segments 32 each themselves are designed as one electrode and is indicated schematically in FIG. 1 where only two of these capacitive sensors 25.3 are shown.
  • FIG 9 shows the power transmission member 23 allow it to react at a kenden axial torque indicated by arrows attached ⁇ by a train of the belt is effected 29th
  • Figure 10 shows the effect of this torque to the Seg ⁇ ment distances d of adjacent segments 32.
  • FIG. 11 shows the force transmission element 23 shown in FIG. 10 in the case of a laterally acting force, which is brought about by a pull of the belt 29 indicated by arrows.
  • FIG 12 shows the effect of this force on the Segmentab ⁇ d stalls adjacent segments 32 similar to that illustrated in FIG 10 diagram.
  • FIGS. 10 and 12 show that torques and forces on the drive device can be distinguished from one another on the basis of the distribution of the segment distances d of adjacent segments 32.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Electromagnetism (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

L'invention concerne un dispositif de mesure (3) servant à détecter des forces et des couples dans un dispositif d'entraînement (1). Ce dispositif de mesure (3) comprend un élément de transmission de force (23) pouvant tourner autour d'un axe de rotation (9), pouvant être entraîné par le dispositif d'entraînement (1) et présentant au moins deux segments (30, 31, 32) qui sont raccordés élastiquement les uns aux autres au moyen d'au moins un élément de raccordement (40) déformable élastiquement. Ce dispositif de mesure (3) comprend en outre un dispositif de détection (25), servant à détecter des changements de position des segments (30, 31, 32) les uns par rapport aux autres, ainsi qu'une unité d'évaluation (27) servant à déterminer des forces et des couples dans le dispositif d'entraînement (1) sur la base de données de mesure détectées au moyen du dispositif de détection (25).
PCT/EP2015/076301 2014-11-21 2015-11-11 Détection de forces et de couples dans un dispositif d'entraînement WO2016078981A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP15794886.0A EP3207347A1 (fr) 2014-11-21 2015-11-11 Détection de forces et de couples dans un dispositif d'entraînement

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DE102014223816.1 2014-11-21
DE102014223816.1A DE102014223816A1 (de) 2014-11-21 2014-11-21 Erfassung von Kräften und Drehmomenten an einer Antriebsvorrichtung

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WO2016078981A1 true WO2016078981A1 (fr) 2016-05-26

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US4955934A (en) * 1988-05-13 1990-09-11 Werner Stehr Measuring device with a test tape cassette
WO2010084297A1 (fr) * 2009-01-22 2010-07-29 Smart Patent Limited Procédé et appareil de mesure du couple transmis par une roue entraînée d'un cycle ou véhicule similaire
EP2364737A1 (fr) * 2010-03-08 2011-09-14 Fresenius Kabi Deutschland GmbH Système d'entraînement
WO2014132021A1 (fr) * 2013-03-01 2014-09-04 Karbon Kinetics Limited Capteur de couple de manivelle pour une bicyclette

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